#motor module
#returns Thrust and Torques given motore input
from numpy import *

def mot(delta,l):
	#motor coefficient matrix
	k1=2.4525
	k2=0
	K=array( [(k1, k1, k1, k1),
			 (0,-l*k1,0, l*k1),
			 (l*k1, 0, -l*k1, 0),
			 (-k2, k2, -k2, k2)] )
	
	F=dot(K,delta);
	
	return F
